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工業技術研究院

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技術名稱: 二維影像與三維點雲資料處理技術

技術簡介

提出一種三維點雲融合二維影像的方法。此三維點雲融合二維影像的方法適用於具有一對稱性的待測工件以進行姿態估測。此方法包括取得對應該待測工件的二維影像與三維點雲。此方法也包括藉由對二維影像進行圖樣特徵分析,取得待測工件的方向性。此方法更包括依照此方向性對該三維點雲進行分割。基此,藉由破壞三維點雲的對稱性,以解決對稱性工件在三維點雲姿態估測的問題。

Abstract

A method for fusing 2D image and 3D point cloud data is provided. The method applies to a pose estimation of a workpiece which has a feature of symmetry in shape. The method includes obtaining a 2D image and a 3D point cloud of the workpiece. The method also includes obtaining a directionality of the workpiece by performing a pattern feature analysis to the 2D image. The method further includes dividing the 3D point data by referring to the directionality. Accordingly, with the destruction of the symmetry of the 3D point cloud, the method can solve the problem of the pose estimation of a symmetric workpiece in shape of 3D point cloud data.

技術規格

1.具主/僕式導引定位,可連結控制多廠牌Robot 2.次像素精度 3.校正簡易快速,精度<1 Pixel

Technical Specification

請補充

技術特色

提出一種三維點雲融合二維影像的方法。此三維點雲融合二維影像的方法適用於具有一對稱性的待測工件以進行姿態估測。此方法包括取得對應該待測工件的二維影像與三維點雲。此方法也包括藉由對二維影像進行圖樣特徵分析,取得待測工件的方向性。此方法更包括依照此方向性對該三維點雲進行分割。基此,藉由破壞三維點雲的對稱性,以解決對稱性工件在三維點雲姿態估測的問題。

應用範圍

視覺導引定位於取放、組裝、整列等應用,可應用產業為3C、金屬、光通訊、車輛零組件...等

接受技術者具備基礎建議(設備)

機器手臂、定位平台

接受技術者具備基礎建議(專業)

電子、電機、資訊、工工等工程背景、具C語言程式設計能力

技術分類 精密機械

聯絡資訊

聯絡人:蔡雅惠 智慧系統工程技術組

電話:03-5916799 或 Email:YaHuiTsai@itri.org.tw

客服專線:+886-800-45-8899

傳真:03-5915939

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